CN116788873B - Automatic unloader suitable for box freight bags - Google Patents
Automatic unloader suitable for box freight bags Download PDFInfo
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- CN116788873B CN116788873B CN202310772005.5A CN202310772005A CN116788873B CN 116788873 B CN116788873 B CN 116788873B CN 202310772005 A CN202310772005 A CN 202310772005A CN 116788873 B CN116788873 B CN 116788873B
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Abstract
The utility model provides an automatic unloader suitable for box freight bagged materials, this automatic unloader includes terminal instrument, front end working device, vision system, truss robot, conveying system, loading and unloading workstation and transplanting device, control system, loading and unloading workstation and transplanting device front end are fixed with conveying system, conveying system's length and angle can be adjusted, control system installs in loading and unloading workstation and transplanting device's afterbody, truss robot sets up to two sets, installs respectively in conveying system's both sides, installs front end working device, terminal instrument in proper order at truss robot front end, is equipped with vision system in one side of front end working device; the operation device has the characteristics of high automation degree, high efficiency, strong adaptability and stable clamping performance, and can realize automatic loading and unloading.
Description
Technical Field
The invention relates to automatic loading equipment, in particular to an automatic unloader suitable for box-type freight bagged materials.
Background
At present, the loading and unloading work of a box truck or a boxcar with bagged materials (in railway transportation, a ceiling capable of preventing sun and rain is arranged at the upper part of a carriage, and doors are opened at two sides of the middle part of the carriage) is mainly performed by manpower, and the fork truck is assisted to complete. A train has about 20 carriages, and the loading and unloading time of one carriage is about 3 hours, so that the labor intensity is high, the labor cost is high, and the degree of automation is low. In recent years, with the rapid development of modern logistics systems, the conventional manual handling or forklift loading and unloading modes seriously reduce the efficiency of warehouse and distribution integration, and raise logistics cost. Automated handling systems have gained increased attention in recent years as a throat way in logistics centers.
In order to realize efficient loading and unloading of boxcars or van trucks, the existing automatic palletizing and loading device for boxcars or van trucks is generally provided with a conveyor belt for conveying cargos, and a movable grabbing manipulator is arranged in the boxcar or above the conveyor belt for grabbing the conveyed cargos, as in patent application CN106276325a, an automatic palletizing and loading system for van vehicles is provided, which comprises: the transfer trolley comprises a carriage for containing the goods, and a rear door plate and a side plate of the carriage are movably connected to supply the goods to enter and exit the carriage; the conveying support is supported on the foundation platform in a sliding way, a conveying mechanism which extends along the translation direction of the conveying support and is used for conveying goods is additionally arranged on the side wall of the conveying support, the conveying support is connected with a driving mechanism which is used for driving the conveying support to translate, and the driving mechanism is connected with the control device so as to drive the conveying support to translate under the control of the control device and extend into the carriage from the rear door plate of the carriage; be equipped with the palletizing robot on being used for stretching into the cantilever end in the carriage on the conveying support, palletizing robot links to each other with in order to pile up neatly the carriage in proper order with the goods of conveying on the transport mechanism under controlling means's control, or with the goods in the carriage destacking to transport mechanism on in proper order but along with the propulsion of loading and unloading process, material height and position all change constantly, if keep the position of conveyer belt unchanged or only can carry out simple fine setting, in order to realize the loading and unloading of full car, the manipulator carries out the removal on a large scale repeatedly, then greatly reduced loading and unloading efficiency.
In order to facilitate the handling of materials during stacking and unloading, in the prior art, the materials are clamped by using an automatically controlled manipulator, and the existing manipulator is usually clamped by using a sucker, a gripper or a forklift; as in patent CN 215158999U, there is provided a gripper mechanism for transporting materials by a loader, which uses grippers with downward openings to grip the materials, and since the grippers are arranged in a vertical direction, a certain space needs to be reserved at the upper part, there is no way to effectively grip the materials at the top of the closed space of a box wagon or a container; as in patent CN109775390 a, there is provided an end effector of a bagged material transfer device, which is similar to a forklift for holding bagged materials, but the clamping jaw 27 at the lower end of the end effector needs to directly extend below the bagged materials to finish mechanical clamping of the materials, and due to the flexibility of the bag, when the clamping jaw 27 at the lower end encounters the conditions of uneven surface and wrinkles of the bag when the bag is completely under, the bag is easily scratched to cause leakage of the materials, and in addition, for the materials of a big bag, the bearing capacity of the clamping jaw is insufficient, and the situation of falling easily occurs; as in patent CN 214454961U, an end effector of a bagged material transferring apparatus is provided, which uses a sucker to clamp a material, and has a problem of not firmly sucking the material with uneven surface, while the fixing frame 98 located below can play a role of supporting the material, it also needs to directly extend into the lower part of the bagged material to complete the mechanical clamping of the material, so that the problem of damaging the lower surface of the bag easily occurs. In addition, the existing manipulator cannot be adjusted in size or has limited adjustment range, so that the problem of insufficient applicability to materials with different sizes can be caused.
Disclosure of Invention
The invention develops a loading and unloading vehicle system for solving the loading and unloading problems of box-type freight bagged materials and the problem that the materials are not firmly grasped by a manipulator, and has the characteristics of high automation degree, high efficiency, strong adaptability and stable clamping performance, and can realize automatic loading and unloading and stacking.
The invention adopts the following technical scheme for solving the technical problems:
the utility model provides an automatic unloader suitable for box freight bagged materials, this automatic unloader includes terminal instrument, front end working device, vision system, truss robot, conveying system, loading and unloading workstation and transplanting device, control system, loading and unloading workstation and transplanting device front end are fixed with conveying system, conveying system's length and angle can be adjusted, control system installs in loading and unloading workstation and transplanting device's afterbody, truss robot sets up to two sets, installs respectively in conveying system's both sides, installs front end working device, terminal instrument in proper order at truss robot front end, is equipped with vision system in one side of front end working device;
the truss robot comprises a first upright post, the upper ends of the first upright posts of the two sets of truss robots are fixedly connected through a cross rod, truss connecting pieces are arranged on the inner sides of the first upright posts, the truss robot is fixed on two sides of a conveying system through the truss connecting pieces, a first sliding rail is arranged on the outer sides of the first upright posts, the truss robot comprises a cross beam which is connected with the first sliding rail in a sliding manner up and down, a telescopic rod is sleeved in the cross beam, one end of the telescopic rod, which is far away from the cross beam, is provided with a second upright post through a first hinging mechanism, an air cylinder is fixed on the upper end face of the cross beam, the output end of the air cylinder is connected with the rear end of the first hinging mechanism, the front end of the second upright post is provided with a second sliding rail, the second hinging mechanism is connected with a front end working device in a sliding manner;
the tail end tool is fixed on the front end working device through the plug-in assembly, the tail end tool is divided into a lower clamp plate and an upper clamp plate, the rear ends of the lower clamp plate and the upper clamp plate are respectively connected with the body of the tail end tool through a first hinge structure, the opening angle of the upper clamp plate and the lower clamp plate can be adjusted through hinged control, the lower clamp plate and the upper clamp plate are respectively provided with a sucker and a plurality of rubber heads, and the heights of the rubber heads are adjustable;
the front-end working device includes: a frame, a pallet, and a pallet driving structure; the end tool is fixedly connected to the front end of the frame, the bottom of the frame is slidably connected with a supporting plate, a supporting plate driving structure is arranged in the frame and used for driving the supporting plate to move back and forth along the direction towards the end tool.
Further, the height adjustment formula of the rubber head is H=L-k (W/D2), wherein the weight of the bagged material is W, the diameter of the sucker is D, the maximum length of the sucker is L, the height of the rubber head is H, and k is a constant related to the sucker material.
Further, a cab is arranged on one side of the loading and unloading workbench and one side of the transplanting device.
Further, a telescopic mechanism is arranged at the forefront end of the conveying system, and a first hinge rotating mechanism and a second hinge rotating mechanism are sequentially connected to the rear end of the telescopic mechanism.
Further, the first hinge rotating mechanism is used for realizing rotation in the horizontal direction, and the second hinge rotating mechanism is used for realizing rotation in the vertical direction.
Further, the telescopic mechanism is a three-stage telescopic mechanism.
Further, the loading and unloading workbench and the transplanting device comprise four-wheel travelling mechanisms, a chassis, a power device, a braking system and a hydraulic supporting device, wherein the second hinged rotating mechanism is connected with the chassis, the four-wheel travelling mechanisms are arranged at the bottom of the chassis, the power device for driving the four-wheel travelling mechanisms to travel and the braking system for controlling the four-wheel travelling mechanisms to brake are arranged on the chassis, and the hydraulic supporting device is arranged at four corners of the chassis.
Further, the sucker is an organ type vacuum sucker.
The beneficial effects of the invention are as follows:
1. the transmission mechanism adjusts the position of the conveying system by controlling the rotation of the first hinge rotating mechanism and the second hinge rotating mechanism and the expansion and contraction of the three-stage expansion mechanism, and enables a truss robot arranged on the transmission mechanism to carry out position adjustment along with the transmission mechanism, and the truss robot is matched with the front end working device 2 and the tail end tool 1 to carry out stable movement on bagged materials; the transmission mechanism is arranged to realize the rotation in the horizontal direction and the vertical direction through the cooperation of the two rotating mechanisms, namely the omnidirectional rotation of the height and the angle of the conveying system can be realized, and the omnidirectional bidirectional conveying of the bagged materials is realized through adjusting the height of the conveying system.
2. The truss robot can realize multi-axis linkage, has two-stage telescopic functions in the up-down direction and the front-back direction, is exquisite in design and light in weight, avoids interference with a conveying system in the motion process, has two hinge mechanisms, can enable a front-end working device to be more flexible, enables the front-end working device to be parallel to the conveying system, and is favorable for grabbing bagged materials. Two sets of truss mechanisms and front end working devices and the like can realize multi-axis linkage without interference, the working efficiency is remarkably improved, and the interval width and the height can be adjusted through the cooperation of the two sets of truss mechanisms, so that the tail end tool can be adapted to materials with different sizes and shapes.
3. The rubber head is arranged on the clamping plate while the sucking disc is arranged, so that the friction force is increased, and the problem of unstable suction of the sucking disc is avoided; in order to ensure that the rubber head and the sucker can be well matched, the height of the rubber head is set to be adjustable, so that gaps are formed due to deviation of the height direction between the rubber head and the sucker, and the end tool is ensured to have enough friction force when sucking bagged materials, so that the bag can be prevented from sliding off or cannot be firmly fixed on the clamping plate;
4. in order to improve the supporting force of the end tool on the materials, a front end working device is additionally arranged at the rear part of the end tool, the front end working device comprises a supporting plate which can stretch out and draw back, the supporting plate can be used for supporting the bagged materials with high weight, and the stability of the transported materials is improved; through the cooperation of the expansion and contraction of the supporting plate and the clamping plate, the damage to the bag when the supporting plate stretches into the lower part of the material can be avoided.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the truss robot.
Fig. 3 is a schematic diagram of the structure of the conveying system.
Fig. 4 is a schematic view of the structure of the loading and unloading table and the transplanting device.
Fig. 5 is a schematic structural view of the end tool.
Fig. 6 is a schematic structural view of the front-end working device.
Fig. 7 is a discharge flow diagram of an automated discharge machine.
Fig. 8 is a loading flow diagram of an automated unloader.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Fig. 1 shows an automatic unloading machine suitable for box-type freight bagged materials, which comprises a tail end tool 1, a front end working device 2, a vision system 3, a truss robot 4, a conveying system 5, a loading and unloading workbench and transplanting device 7, a cab 8 and a control system 9, wherein the conveying system 5 is fixed at the front end of the loading and unloading workbench and transplanting device 7, the cab 8 is arranged at one side of the loading and unloading workbench and transplanting device 7, the control system 9 is arranged at the tail part of the loading and unloading workbench and transplanting device 7, the truss robot 4 is arranged into two sets and is respectively arranged at two sides of the conveying system 5, the front end working device 2 and the tail end tool 1 are sequentially arranged at the front end of the truss robot 4, and the vision system 3 is arranged at one side of the front end working device 2.
In fig. 2, the specific structure of the truss robot 4 is shown, the truss robot 4 comprises a first upright post 44, the upper ends of the first upright posts 44 of the two sets of truss robots are fixedly connected through cross bars, truss connecting pieces 48 are arranged on the inner sides of the first upright posts 44, the truss robot 4 is fixed on two sides of a conveying system through the truss connecting pieces 48, first sliding rails are respectively arranged on the outer sides of the first upright posts 44, the truss robot 4 comprises a cross beam 41 which is connected with the first sliding rails in a sliding manner up and down, a telescopic rod 43 is sleeved in the cross beam 41, one end of the telescopic rod 43, far away from the cross beam 41, is provided with a second upright post 46 through a first hinge mechanism 45, an air cylinder 42 is fixed on the upper end face of the cross beam 41, the output end of the air cylinder 42 is connected with the rear end of the first hinge mechanism 45, so that the air cylinder can drive the first hinge mechanism 45 to stretch, a second sliding rail is arranged at the front end of the second upright post 46, a second hinge mechanism 47 is connected with the front end of the second hinge mechanism 47, and the front end working device 2 is connected with the front end.
The truss robot can realize multi-axis linkage, has two-stage telescopic functions in the up-down direction and the front-back direction, is exquisite in design and light in weight, avoids interference with a conveying system in the moving process, has two hinging mechanisms, can enable a front-end working device to be more flexible, enables the front-end working device to be parallel to the conveying system, and is favorable for grabbing bagged materials. The two truss robots can calculate the optimal loading and unloading modes according to different vehicle box sizes. Two sets of truss mechanisms and front end working devices and the like are designed, multi-axis linkage can be achieved, interference is avoided, the operation efficiency is remarkably improved, the interval width and the height can be adjusted through cooperation of the two sets of truss mechanisms, and therefore the tail end tool can be adapted to materials with different sizes and shapes.
The specific structure of the conveyor system 5 is shown in fig. 3, the foremost end of the conveyor system is provided with a three-stage telescopic mechanism 51, which can send the front end working device and the end tool to any position of the railway carriage; the rear end of the three-stage telescopic mechanism 51 is sequentially connected with a first hinge rotating mechanism 52 and a second hinge rotating mechanism 53, wherein the first hinge rotating mechanism 52 is used for realizing rotation in the horizontal direction, the second hinge rotating mechanism 53 is used for realizing rotation in the vertical direction, the rotation in the horizontal direction and the vertical direction is realized through the cooperation of the two rotating mechanisms, namely the omnidirectional rotation of the height and the angle of the conveying system can be realized, and the omnidirectional bidirectional conveying of the bagged materials is realized through adjusting the height of the conveying system.
Fig. 4 shows a specific structure of the loading and unloading table and transplanting device 7, the loading and unloading table and transplanting device 7 comprises a four-wheel travelling mechanism 71, a chassis 72, a power device 73, a brake system 74 and a hydraulic supporting device 75, the second hinged rotating mechanism 53 is connected with the chassis 72, the four-wheel travelling mechanism 71 is arranged at the bottom of the chassis 72, the power device 73 for driving the four-wheel travelling mechanism 71 to travel and the brake system 74 for controlling the four-wheel travelling mechanism 71 to brake are arranged on the chassis 72, and the hydraulic supporting device 75 for supporting the device when the loading and unloading device works is arranged at four corners of the chassis 72. All the equipment is integrated on the mobile platform, so that the transfer problems of the truss robot, the conveying system, the stacking device outside the carriage and the like are solved.
Fig. 5 and 6 show specific structures of the end tool 1 and the front end working device 2. The end tool 1 is fixed on the front end working device 2 through a plug-in assembly, the end tool 1 is divided into a lower clamping plate 13 and an upper clamping plate 14, the rear ends of the lower clamping plate 13 and the upper clamping plate 14 are respectively connected with a body of the end tool through a first hinge structure 11, the opening angle of the upper clamping plate and the lower clamping plate can be adjusted through hinged control, a sucker 15 and a plurality of rubber heads 12 are respectively arranged on the lower clamping plate 13 and the upper clamping plate 14, the sucker adopts an organ type vacuum sucker, the rubber heads are arranged on the upper clamping plate and the lower clamping plate, and the friction force is increased; the front opening angle of the bagged material is larger, the lower clamping plate firstly contacts the material, forward thrust is applied to the lower clamping plate when the lower clamping plate contacts the material, and then the first hinge structure is controlled to move so that the opening of the upper clamping plate and the opening of the lower clamping plate are reduced, and the upper clamping plate and the lower clamping plate clamp the material together; the upper clamping plate and the lower clamping plate are made into a profiling structure according to bagged materials, so that the material grabbing is facilitated.
In the use process of material grabbing, when the sucker adsorbs bagged materials, under various use scenes, as the weight of the adsorbed bagged materials is different, the height of the sucker can also generate different heights along with the weight of the bagged materials, if the height of the rubber head is too high, the sucker can not be in full contact with the surface of the bagged materials, so that the grabbing effect is affected; if the height of the rubber head is set too low, gaps can be formed between the rubber head and the sucker, and the stability and reliability of material grabbing are reduced. In order to ensure that the rubber head and the sucker can be well matched, the height of the rubber head is set to be adjustable, so that gaps are formed due to deviation of the height direction between the rubber head and the sucker, and the end tool is ensured to have enough friction force when sucking bagged materials, so that the bag can be prevented from sliding off or cannot be firmly fixed on the clamping plate. The height adjusting range of the rubber head is within the telescopic range of the sucker, so that the friction force of the rubber head can be fully utilized when the bagged materials are clamped, and the gripping capacity of the gripper is effectively enhanced.
The height of the rubber head is adjusted in the following way, but not limited to the following way, an air inflation cavity is arranged in the rubber head, and the height of the rubber head is adjusted and controlled by controlling the medium of the air inflation cavity. In the use process, the height adjustment formula of the rubber head is H=L-k (W/D2), wherein the weight of the bagged material is W, the diameter of the sucker is D, the maximum length of the sucker is L, the height of the rubber head is H, k is a constant related to the sucker material, and the higher the hardness of the sucker material is, the smaller the k value is. The weight W of the bagged materials is obtained, the weight setting of each bagged material is known for the bagged materials with uniform specification loaded in a carriage, and the value of W can be set in the control system 9 before the operation starts; for the condition that the weights of the bagged materials are uneven, a weight sensor can be arranged on the lower clamping plate, and the weight of the bagged materials is weighed by clamping the materials by the lower clamping plate.
For the bagged materials with large weight, if the bagged materials are transferred to the conveying device only by the upper clamping plate and the lower clamping plate, the supporting force of the clamping plates is limited under the matched connection of the hinging devices, and if the supporting force is improved by unilaterally increasing the strength of the hinging devices and the upper clamping plate and the lower clamping plate, the volume and the weight of the tail end device can be increased, the cost can be increased, and the risk of damaging the bag when the clamping plates are clamped can be increased. In order to improve the supporting force of the end tool to the material, add front end working device at the rear portion of end tool, front end working device includes: a frame 21, a pallet 23, a pallet drive structure 24; the end tool 1 is fixedly connected to the front end of the frame 21, a pallet 23 is slidably connected to the bottom of the frame 21, a pallet driving structure 24 is provided inside the frame 21, and the driving structure 24 is used for driving the pallet 23 to move back and forth in a direction toward the end tool. The problem of grabbing bagged materials (more than 50 kg) with large weight through the cooperation of the supporting plate and the upper clamping plate and the lower clamping plate is solved by taking the unloading process as an example, and the working concrete process is as follows: firstly, the bagged materials are grabbed by using an upper clamping plate and a lower clamping plate, the bagged materials are slightly lifted, then the supporting plate 22 is driven by the supporting plate driving structure 24 to extend forwards, so that the supporting plate 22 is positioned below the bagged materials, the supporting plate supports the bagged materials, the problem that the supporting force of a manipulator in the prior art is insufficient is solved by using the supporting plate to support the supporting plate, and the bagged materials can be stably transferred to a conveying device under the combined action of the supporting plate 23 and the upper clamping plate and the lower clamping plate; after transferring the bagged materials to the conveying device, the pallet driving structure 24 drives the pallet 22 to retract backwards, and the upper and lower clamping plates are opened, so that the transfer of the bagged materials to the conveying device is completed.
When the material is unloaded, the bagged materials can be grabbed according to the setting sequence by matching with the front-end working device through vision according to the placement condition of the actual bagged materials, the bagged materials are placed on the supporting plate of the working device, then the bagged materials are placed on the conveying line through the truss structure, and the front-end working device can reach all positions of a carriage through the truss structure; the bagged materials are conveyed outside the carriage through a conveying line.
Fig. 7 shows a process flow of unloading a truck adapted for an automated unloading machine for box-type freight bagged materials, specifically:
s1, adjusting a conveying system to a unloading state, manually driving the equipment to reach a corresponding carriage, and positioning the equipment;
s2, after a carriage side door is opened, observing the arrangement condition of materials through a vision system 3, adjusting the position of a conveying system through controlling rotation of a first hinge rotating mechanism 52 and a second hinge rotating mechanism 53 and stretching of a third-stage stretching mechanism 51, and moving a front end working device 2 and a tail end tool 1 to a bagged material position of a doorway by utilizing cooperation of a truss robot;
s3, controlling the upper clamping plate and the lower clamping plate to open a larger opening, enabling the lower clamping plate to contact materials at first, applying forward thrust to the lower clamping plate while contacting, and then controlling the first hinge structure to move so that the opening of the upper clamping plate and the opening of the lower clamping plate are reduced, and enabling the upper clamping plate and the lower clamping plate to clamp bagged materials; in the process of clamping bagged materials, the suction cup is firstly sucked into negative pressure, so that the suction cup adsorbs the bagged materials, then the height of the rubber head is determined through a height adjustment formula of the rubber head, and the rubber head is adjusted to be at a corresponding height;
s4, grabbing the bagged materials by using an upper clamping plate and a lower clamping plate, slightly lifting the bagged materials, and driving the supporting plate 22 to extend forwards by using the supporting plate driving structure 24, so that the supporting plate 22 is positioned below the bagged materials, and the supporting plate can support the bagged materials, and can ensure that the bagged materials are stably transferred to the conveying device under the combined action of the supporting plate 23 and the upper clamping plate and the lower clamping plate; after the bagged materials are transferred to the conveying device, the pallet driving structure 24 drives the pallet 22 to retract backwards, the upper clamping plate and the lower clamping plate are opened, and the transfer of the bagged materials to the conveying device is completed;
s5, according to the unloading condition of the bagged materials, the front end working device, the tail end tool, the truss robot and the conveying system move together into a carriage to unload materials in the carriage;
s6, continuously moving the front end working device, the tail end tool, the conveying system and the truss robot into a carriage after the bagged materials in the middle part are discharged, wherein the conveying system has the functions of stretching and turning, and discharging the bagged materials on one side of the carriage;
and S7, after the materials on one side of the carriage are discharged, the front end working device, the tail end tool, the truss robot and the conveying system retract, then the front end working device, the tail end tool, the truss robot and the conveying system turn to the other side of the carriage, and then the materials on the other side of the carriage are discharged until all the materials on the carriage are discharged.
And S8, retracting the truss robot and the conveying system, moving out the carriage, then moving to the gate of the next carriage, starting to discharge the material of the second carriage, and sequentially completing the unloading of other carriages.
And S9, after the bagged materials are conveyed out of the carriage from the train carriage through a conveying system, the bagged materials are automatically piled through automatic piling equipment.
Fig. 8 shows a loading process flow of an automatic unloader suitable for box-type freight bagged materials, specifically:
and SS1, manually driving the equipment to the corresponding carriage, positioning the equipment, and adjusting the conveying system to a loading state.
And SS2, after the carriage side door is opened, adjusting the position of the conveying system, wherein a front end working device and an end tool on the equipment reach the bottom of one side of the carriage through the truss robot and the conveying system.
SS3, automatically placing bagged materials of automatic stacking equipment on a conveying system, and placing the bagged materials in a carriage according to a set sequence by a vision system in cooperation with a truss robot; the upper clamping plate and the lower clamping plate are controlled to open larger openings, the lower clamping plate firstly contacts bagged materials on the conveying system, forward pushing force is applied to the lower clamping plate when the lower clamping plate contacts the bagged materials, and then the first hinge structure is controlled to move so that the openings of the upper clamping plate and the lower clamping plate are reduced, and the bagged materials are clamped by the upper clamping plate and the lower clamping plate; in the process of clamping bagged materials, the suction cup is firstly sucked into negative pressure, so that the suction cup adsorbs the bagged materials, then the height of the rubber head is determined through a height adjustment formula of the rubber head, and the rubber head is adjusted to be at a corresponding height;
SS4, using upper and lower clamping plates to grab the bagged materials, slightly lifting the bagged materials, using a supporting plate driving structure 24 to drive a supporting plate 22 to extend forwards, so that the supporting plate 22 is positioned below the bagged materials, and the supporting plate can support the bagged materials and ensure the bagged materials to stably transfer to a carriage under the combined action of the supporting plate 23 and the upper and lower clamping plates; after the vision system is matched with the truss robot to transfer the bagged materials to the corresponding position in the carriage, the supporting plate driving structure 24 drives the supporting plate 22 to retract backwards, the upper clamping plate and the lower clamping plate are opened, and the bagged materials are placed in the carriage according to the set sequence;
SS5, according to the loading condition of the bagged materials, the front end working device, the tail end tool, the truss robot and the conveying system move outside the carriage until one side of the carriage is filled;
SS6, after the bagged materials on one side are loaded, the truss robot and the conveying system retract and rotate to the other side, then the materials on the other side of the carriage are loaded, and loading of all the materials on the other side of the carriage is completed until the materials on the other side of the carriage are loaded;
SS7 truss robots and conveyor system retract, moving out of the car. And then moving to the gate of the next carriage to start loading the material of the second carriage, and sequentially completing loading of other carriages.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (7)
1. The automatic unloading machine is characterized by comprising a tail end tool, a front end working device, a vision system, a truss robot, a conveying system, a loading and unloading workbench, a transplanting device and a control system, wherein the conveying system is fixed at the front ends of the loading and unloading workbench and the transplanting device, the length and the angle of the conveying system can be adjusted, the control system is arranged at the tail parts of the loading and unloading workbench and the transplanting device, the truss robot is arranged in two sets and is respectively arranged at two sides of the conveying system, the front end working device and the tail end tool are sequentially arranged at the front end of the truss robot, and the vision system is arranged at one side of the front end working device;
the truss robot comprises a first upright post, the upper ends of the first upright posts of the two sets of truss robots are fixedly connected through a cross rod, truss connecting pieces are arranged on the inner sides of the first upright posts, the truss robot is fixed on two sides of a conveying system through the truss connecting pieces, a first sliding rail is arranged on the outer sides of the first upright posts, the truss robot comprises a cross beam which is connected with the first sliding rail in a sliding manner up and down, a telescopic rod is sleeved in the cross beam, one end of the telescopic rod, which is far away from the cross beam, is provided with a second upright post through a first hinging mechanism, an air cylinder is fixed on the upper end face of the cross beam, the output end of the air cylinder is connected with the rear end of the first hinging mechanism, the front end of the second upright post is provided with a second sliding rail, the second hinging mechanism is connected with a front end working device in a sliding manner;
the tail end tool is fixed on the front end working device through the plug-in assembly, the tail end tool is divided into a lower clamp plate and an upper clamp plate, the rear ends of the lower clamp plate and the upper clamp plate are respectively connected with the body of the tail end tool through a first hinge structure, the opening angle of the upper clamp plate and the lower clamp plate can be adjusted through hinged control, and the lower clamp plate and the upper clamp plate are respectively provided with a sucker and a plurality of rubber heads; the height of the rubber head is set to be adjustable, the height adjustment formula of the rubber head is H=L-k (W/D2), wherein the weight of bagged materials is W, the diameter of a sucker is D, the maximum length of the sucker is L, the height of the rubber head is H, and k is a constant related to sucker materials;
the front-end working device includes: a frame, a pallet, and a pallet driving structure; the end tool is fixedly connected to the front end of the frame, a supporting plate is slidably connected to the bottom of the frame, a supporting plate driving structure is arranged in the frame and used for driving the supporting plate to move back and forth along the direction towards the end tool.
2. The automated unloader for use with box-type shipping bagged materials of claim 1, wherein a cab is provided on one side of the loading and unloading station and the transplanting means.
3. The automatic unloader for box-type freight bagged materials according to claim 1, wherein the forefront end of the conveying system is provided with a telescopic mechanism, and the rear end of the telescopic mechanism is sequentially connected with a first hinge rotating mechanism and a second hinge rotating mechanism.
4. The automated unloader for box-type shipping bagged materials of claim 3, wherein the first hinge rotation mechanism is used for realizing rotation in the horizontal direction, and the second hinge rotation mechanism is used for realizing rotation in the vertical direction.
5. The automated unloader for box-type shipping bagged materials of claim 3, wherein the telescoping mechanism is a three-stage telescoping mechanism.
6. The automated unloading machine suitable for box-type freight bagged materials according to claim 3, wherein the loading and unloading workbench and the transplanting device comprise four-wheel travelling mechanisms, a chassis, a power device, a braking system and a hydraulic supporting device, the second hinged rotating mechanism is connected with the chassis, the four-wheel travelling mechanisms are arranged at the bottom of the chassis, the power device for driving the four-wheel travelling mechanisms to travel and the braking system for controlling the four-wheel travelling mechanisms to stop are arranged on the chassis, and the hydraulic supporting device is arranged at four corners of the chassis.
7. The automated unloader for use with box-type shipping bagged materials of claim 1, wherein the suction cup is an organ type vacuum suction cup.
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| CN116788873A (en) | 2023-09-22 |
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